hello lprogram,
Its a cb3.1 system with polyscope 3.10.
hello lprogram,
Its a cb3.1 system with polyscope 3.10.
The same registers are available in Ethernet IP. Check the Ethernet IP guide - 18712, at the How to? Section, in UR website.
Yes. It is a simple and safe procedure that loads the system with the last state before a fault. ABB manual are well documented, take a look to Operating manual, IRC5 with FlexPendant ID 3HAC050941-001, and MultiMove application manual, ID 3HAC050961-001.
Hello awildcat.
Like skooter mentioned before, it may be a problem with smb cables at first place. I have seen cables in good shape externally, but with some broken wire inside. Try with another smb cable you know it works. Another thing you can take a look is inside the cabinet controller, the communication cables between axis controller and drive units, with the db9 connectors. There is a dedicated document, troubleshooting, the doc ID is 3HAC020738-005. Check the cables and do a B-start.
Hi Lokesh... what PLC are you integrating? what type of communication there is between PLC and UR??? I have some experience communicating UR and Siemens PLC via Profinet, there are a lots of data registers in profinet data block, and some dedicated registers for axis positions than you can read as float data in PLC. Take a look the image. You can find info at How-to articles section in UR website.
https://www.universal-robots.com/how-tos-and-faqs/how-to/
Thanks guys.
Nation: I took a look to your app. I understand the math, but can not see how you get the vector position and orientation from the base of the robot (workobj0->ABB, UFRAME[0]->Fanuc, BASE[0]->KUKA) unto the vehicle origin reference.
SkyeFire: when you talk about indirect measurement, is to teach the robot the measuring points in the station, those destined to metrology?? I need to know the relative positions of the measuring points to the vehicle zero first?? Am I Right??
In the past i have work in a new cell built in the integrator's shop. Then they made try-out, and sent the cell to the factory. They updated the base frame measuring with a FARO arm using Metrolog software on the station, then measuring robot tcp on many test points, and finally calculate the new "real plant floor" frame with an excel macro inserting the measured points relative to vehicle frame and doing the math. It is impossible that the robot can be mounted in the same exact position of simulation.
I am Sorry, it is a complex tech topic and maybe exceeds my english skills.
For those people who works on Automotive BiW integrations: what method of measurement use for set up of the robot user frame reference on the plant floor? I have some experience using cad software with measuring arms, and old excel macros for calculate transformations. Recently, i programmed a spot welding operation with an old robot setted with a "theoric reference" from robcad. Welding engineers wanted to compare the physical weld points coordinates with 3D car body and check spots deviation. Once the user frame is setted incorrectly, and all waypoints programmed, is a pain in the ass define a new correct frame, execute manually the movement and replace it in each point. do you all have any suggestions?? Thanks.
Thanks zirbel. I programmed a routine reading joints positions, and depending on axes positions, it selects a path to home.
hi uzi. Retasking a robot depends on the process equipment integrated and the application software available in the robot system. Automotive manufacturers has big global contracts with robots vendors. At big volumes, the cost of each single robot is about the half. The hardware and software installed from factory are customized, vw uses kuka vkrc controller instead the regular kuka krc, toyota uses kawasaki T-controller, and so on. You must pay attention to the payload and reach of the arm. In some applications like material handling, its posible integrate a robot from a diferent process with a re-engineering.
hi Rob,
When you turn on the ur system, you must manually load the installation files(safety configuration, type of mounting, tcp, tool mass,etc). UR recommends create a new installation for the application and not to use the default. For automatic start, you can try setting options in "set default program" menu in the installation tab. I hope it will help.
hello, i'm familiar with traditional industrial robots: abb, kuka, fanuc and so on. Typically in program execution, you can stop program run by pressing stop button on teach pendant. Then you can restart the program run and the execution starts at the same program line where stopped the first time. I have a problem with the program pointer management on UR: by pressing stop button during execution of movement subroutine, the robot stops. But, when i try to restart execution, program pointer losses its position and moves to main program. Is there a way to manage this issue?? Thanks.